CA3041352C - Procedes et systemes pour la fourniture d'informations de profondeur - Google Patents

Procedes et systemes pour la fourniture d'informations de profondeur Download PDF

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Publication number
CA3041352C
CA3041352C CA3041352A CA3041352A CA3041352C CA 3041352 C CA3041352 C CA 3041352C CA 3041352 A CA3041352 A CA 3041352A CA 3041352 A CA3041352 A CA 3041352A CA 3041352 C CA3041352 C CA 3041352C
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CA
Canada
Prior art keywords
depth
output
relative
information
navigation system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CA3041352A
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English (en)
Other versions
CA3041352A1 (fr
Inventor
Kamyar ABHARI
Gal Sela
Michael Frank Gunter WOOD
Kai Michael Hynna
Kelly Noel Dyer
Tammy Kee-wai LEE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Synaptive Medical Inc
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Synaptive Medical Inc
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Publication date
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Publication of CA3041352A1 publication Critical patent/CA3041352A1/fr
Application granted granted Critical
Publication of CA3041352C publication Critical patent/CA3041352C/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/70—Denoising; Smoothing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00128—Electrical control of surgical instruments with audible or visual output related to intensity or progress of surgical action
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/062—Measuring instruments not otherwise provided for penetration depth
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/363—Use of fiducial points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • A61B2090/3735—Optical coherence tomography [OCT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Gynecology & Obstetrics (AREA)
  • Multimedia (AREA)
  • Endoscopes (AREA)
  • Image Processing (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Image Generation (AREA)

Abstract

L'invention concerne des procédés et des systèmes pour la fourniture de données de profondeur pendant une intervention médicale chez un patient. Des données de profondeur, représentant au moins l'une parmi des données de profondeur relatives et des données de profondeur générales, sont fournies. Des informations de suivi concernant la position et l'orientation d'un instrument médical et des informations de profondeur concernant des variations de profondeur au niveau d'un site d'intérêt sont utilisées. Les données de profondeur relatives représentent les informations de profondeur concernant la position et l'orientation de l'instrument. Les données de profondeur générales représentent les informations de profondeur au niveau du site d'intérêt indépendamment de la position et de l'orientation de l'instrument.
CA3041352A 2016-10-21 2016-10-21 Procedes et systemes pour la fourniture d'informations de profondeur Active CA3041352C (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CA2016/051223 WO2018072003A1 (fr) 2016-10-21 2016-10-21 Procédés et systèmes pour la fourniture d'informations de profondeur

Publications (2)

Publication Number Publication Date
CA3041352A1 CA3041352A1 (fr) 2018-04-26
CA3041352C true CA3041352C (fr) 2023-12-12

Family

ID=62018064

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3041352A Active CA3041352C (fr) 2016-10-21 2016-10-21 Procedes et systemes pour la fourniture d'informations de profondeur

Country Status (4)

Country Link
US (1) US11672609B2 (fr)
CA (1) CA3041352C (fr)
GB (1) GB2570835B (fr)
WO (1) WO2018072003A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3621545B1 (fr) 2017-05-10 2024-02-21 MAKO Surgical Corp. Système robotique d'opération chirurgicale de la colonne vertébrale
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
AU2019212626B2 (en) 2018-01-26 2024-10-10 Mako Surgical Corp. End effectors, systems, and methods for impacting prosthetics guided by surgical robots
KR20220159392A (ko) 2020-03-27 2022-12-02 마코 서지컬 코포레이션 햅틱 인터페이스를 이용한 로봇 척추 수술 시스템 및 방법
EP4186456A1 (fr) * 2021-11-26 2023-05-31 Technische Universität München Réglage multidimensionnel d'outil basé sur un signal acoustique
AU2023278867A1 (en) 2022-06-03 2025-01-09 Mako Surgical Corp. Surgical robotic system with compliance mechanism
US12573006B2 (en) * 2022-11-01 2026-03-10 Samsung Electronics Co., Ltd. Display apparatus for obtaining output image using edge image and control method thereof
WO2025144622A1 (fr) * 2023-12-27 2025-07-03 Assurant, Inc. Système, procédé et appareil de manipulation de dispositif mobile robotisée

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7831292B2 (en) * 2002-03-06 2010-11-09 Mako Surgical Corp. Guidance system and method for surgical procedures with improved feedback
EP2033164B1 (fr) 2006-06-23 2015-10-07 Imax Corporation Procédés et systèmes de conversion d'images cinématographiques 2d pour une représentation stéréoscopique 3d
US20140221822A1 (en) * 2013-02-04 2014-08-07 The Cleveland Clinic Foundation Instrument depth tracking for oct-guided procedures
US9860510B2 (en) 2013-03-15 2018-01-02 Intuitive Surgical Operations, Inc. Depth based modification of captured images
US9901406B2 (en) * 2014-10-02 2018-02-27 Inneroptic Technology, Inc. Affected region display associated with a medical device
WO2016065458A1 (fr) * 2014-10-29 2016-05-06 Intellijoint Surgical Inc. Systèmes et dispositifs incluant une caméra de navigation chirurgicale équipée d'un support cinématique et un champ opératoire pourvu d'un adaptateur de support cinématique
WO2016108110A1 (fr) * 2014-12-31 2016-07-07 Koninklijke Philips N.V. Visualisation et suivi de position/orientation relative entre un dispositif d'intervention et des cibles anatomiques de patient dans des systèmes et des procédés de guidage par image
GB2566663B (en) * 2016-06-27 2022-02-23 Synaptive Medical Inc Intraoperative medical imaging method and system

Also Published As

Publication number Publication date
US11672609B2 (en) 2023-06-13
GB2570835B (en) 2021-11-03
US20210228283A1 (en) 2021-07-29
GB2570835A (en) 2019-08-07
CA3041352A1 (fr) 2018-04-26
WO2018072003A1 (fr) 2018-04-26
GB201907127D0 (en) 2019-07-03

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